Mini-Octopus build from r@171

1 files changed, 216 insertions, 0 deletions

diff --git a/firmware/i2c.c b/firmware/i2c.c
new file mode 100644
index 0000000..b7d55fe
--- /dev/null
+++ b/firmware/i2c.c
@@ -0,0 +1,216 @@
+/*
+ * Author: Benedikt Sauter
+ * Author: Peter Huewe, Hubert Hogel
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "i2c.h"
+
+void i2c_parser(char *buf) {
+answer[0] = buf[0];
+  switch(buf[0]){
+    case CMD_I2C_INIT:
+      i2c_init_usb();
+      break;
+    case CMD_I2C_DEINIT:         
+      i2c_deinit_usb();
+      break;
+    case CMD_I2C_SET_BITRATE:  
+      i2c_set_bitrate_usb((char)buf[2]);
+      break;
+    case CMD_I2C_SEND_BYTE:
+      i2c_send_byte_usb((int)buf[2]);
+      break;
+    case CMD_I2C_RECV_BYTES:
+      i2c_reveice_bytes_usb((int)buf[3],(int)buf[1]-4, (int)buf[2]);
+      break;
+    case CMD_I2C_SEND_START:
+      i2c_send_start_usb();
+      break;
+    case CMD_I2C_SEND_STOP:
+      i2c_send_stop_usb();
+      break;
+    default:
+      answer[0]=buf[0];
+      answer[1]=RSP_UNKOWN_CMD;
+      answer[2]=0;
+      CommandAnswer(3);
+  }
+}
+
+
+unsigned char i2c_get_twsr(void)
+{
+  return (TWSR & 0xF8);
+}
+
+
+void i2c_wait_for_complete(void)
+{
+  while (!(TWCR & (1<<TWINT))){
+    //do nothing just wait
+    ;
+  }
+}
+
+
+void i2c_init_usb(void)
+{
+  answer[0]=CMD_I2C_INIT;
+  answer[1]=(unsigned char)i2c_init();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int i2c_init(void)
+{
+  TWCR |= (1<<TWEN);
+  octopus.ports[12] = PIN_SCL;
+  octopus.ports[13] = PIN_SDA;
+  
+  return RSP_OK;
+}
+
+
+void i2c_deinit_usb(void)
+{
+  answer[0]=CMD_I2C_DEINIT;
+  answer[1]=(unsigned char)i2c_deinit();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int i2c_deinit(void)
+{
+  TWCR &= ~(1<<TWEN); // deinit
+  octopus.ports[12]=PIN_OUT;  // this is wrong!
+  octopus.ports[13]=PIN_OUT;  // this is wrong!
+
+  return RSP_OK;
+}
+
+
+void i2c_set_bitrate_usb(char bitrate) {
+  answer[0] = CMD_I2C_SET_BITRATE;
+  answer[1] = (unsigned char)i2c_set_bitrate(bitrate);
+  answer[2] =  '\0';
+  CommandAnswer(3);
+}
+
+int i2c_set_bitrate(char bitrate) {
+  TWBR = bitrate;
+
+  TWSR &= ~((1<<TWPS1) | (1<<TWPS0));
+  TWSR |= (0<<TWPS0);
+
+  return RSP_OK;
+}
+
+
+void i2c_send_start_usb(void)
+{
+  answer[0] = CMD_I2C_SEND_START;
+  answer[1] = (unsigned char)i2c_send_start();
+  answer[2] = '\0';
+  CommandAnswer(3);
+}
+
+int i2c_send_start(void)
+{
+  i2c_get_twsr();
+  TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
+  i2c_wait_for_complete();
+  return RSP_OK;
+}
+
+void i2c_send_stop_usb(void)
+{
+  answer[0]=CMD_I2C_SEND_STOP;
+  answer[1]=(unsigned char)i2c_send_stop();
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+
+int i2c_send_stop(void)
+{
+  TWCR = (1<<TWINT)|(1<<TWEN)|(1<<TWSTO);
+  return RSP_OK;
+}
+
+
+void i2c_send_byte_usb(char data)
+{
+  i2c_send_byte(data);
+
+  answer[0] = CMD_I2C_SEND_BYTE;
+  answer[1] = RSP_OK;
+  answer[2] = '\0';
+  CommandAnswer(3);
+}
+
+void i2c_send_byte(char data)
+{
+  TWDR = data;
+  TWCR = (1<<TWINT) | (1<<TWEN);
+  i2c_wait_for_complete();
+}
+
+void i2c_reveice_bytes_usb(int address,int len, int timeout)
+{
+    /* receive */
+    //i2c_get_twsr(); 
+    //print_hex(s);
+
+    //i2c_send_start();
+    /* slave address = 0x10; */
+    //buf[3] = (0x10 << 1)|1;  /* (00010000<<1) | R */
+    //i2c_send_byte( (0x10 << 1)|1);
+    
+    
+  answer[0]=CMD_I2C_RECV_BYTES;
+  answer[1]=RSP_OK;
+  answer[2]=1;
+  answer[3]=i2c_receive_byte();
+  CommandAnswer(5);
+}
+
+
+unsigned char i2c_receive_byte(void)
+{
+  TWCR = (1<<TWINT) | (1<<TWEN);
+  i2c_wait_for_complete();
+  return TWDR;
+}
+